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 *  Copyright (c) 2014, Konstantinos Chatzilygeroudis
 *  Copyright (c) 2016, CRI Lab at Nanyang Technological University
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#ifndef GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN
#define GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN

// ROS includes
#include <ros/ros.h>

// Boost includes
#include <boost/bind.hpp>

// Gazebo includes
#include <gazebo/common/Plugin.hh>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>

namespace gazebo
{
  class DisableLinkPlugin : public ModelPlugin
  {
    public:
      DisableLinkPlugin();
      ~DisableLinkPlugin();

      void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
      void UpdateChild();

    private:
      // Parameters
      std::string link_name_;

      bool kill_sim;

      // Pointers to the joints
      physics::LinkPtr link_;

      // Pointer to the model
      physics::ModelPtr model_;

      // Pointer to the world
      physics::WorldPtr world_;

  };
}

#endif
